4_2023_sen_12

Title of the article DEVELOPMENT OF A KINEMATICS MODEL OF HUMAN FINGERS FOR APPLICATION IN ROBOTIC GLOVES
Authors

MERKURYEV Igor V., D. Sc. in Eng., Prof., Head of the Department of Robotics, Mechatronics, Dynamics and Machine Strength, National Research University “Moscow Power Engineering Institute”, Moscow, Russian Federation, This email address is being protected from spambots. You need JavaScript enabled to view it.">This email address is being protected from spambots. You need JavaScript enabled to view it.

CHUNG Chan T., Postgraduate Student of the Department of Robotics, Mechatronics, Dynamics and Machine Strength, National Research University “Moscow Power Engineering Institute”, Moscow, Russian Federation, This email address is being protected from spambots. You need JavaScript enabled to view it.">This email address is being protected from spambots. You need JavaScript enabled to view it.

SAYPULAEV Gasan R., Assistant of the Department of Robotics, Mechatronics, Dynamics and Machine Strength, National Research University “Moscow Power Engineering Institute”, Moscow, Russian Federation, This email address is being protected from spambots. You need JavaScript enabled to view it.">This email address is being protected from spambots. You need JavaScript enabled to view it.

SAYPULAEV Musa R., Ph. D.in Eng., Senior Lecturer of the Department of Robotics, Mechatronics, Dynamics and Machine Strength, National Research University “Moscow Power Engineering Institute”, Moscow, Russian Federation, This email address is being protected from spambots. You need JavaScript enabled to view it.">This email address is being protected from spambots. You need JavaScript enabled to view it.

DEEB Delshan, Assistant of the Department of Robotics, Mechatronics, Dynamics and Machine Strength, National Research University “Moscow Power Engineering Institute”, Moscow, Russian Federation, This email address is being protected from spambots. You need JavaScript enabled to view it.">This email address is being protected from spambots. You need JavaScript enabled to view it.
In the section BIOMECHANICS
Year 2023
Issue 4(65)
Pages 106–113
Type of article RAR
Index UDK 531.132.1
DOI https://doi.org/10.46864/1995-0470-2023-4-65-106-113
Abstract This paper considers the design of an anthropomorphic manipulator in the form of a human hand. The aim of the work is to describe the kinematics of a robotic hand, using the example of one finger. Based on the Denavit–Hartenberg algorithm, a kinematic model is developed for one finger of the robotic hand. The working area of the robotic finger is determined, taking into account the limitations on the rotation angles of the finger phalanges. These kinematic equations are used to solve the problem of the speeds of one fingertip. According to the results of modeling for given speeds of the fingertip, the dependencies of the rotation angles of the robotic hand links were obtained. Unlike the previously used models, the developed one makes it possible to take into account the presence of a geometric constraint between the proximal and distal finger phalanges, which is structurally made with an inextensible thread. The results of the work can be used in the design and manufacture of new robotic gloves.
Keywords kinematics, control, robotic glove, anthropomorphic grip, Denavit–Hartenberg parameters
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